Multi-axis adjusting mobile robot
Through the combination of a multi-module mobile structure and motors and cylinders, the multi-axis adjustable mobile robot realizes the switching of multiple motion modes, solves the problem of poor adaptability of traditional robots in complex terrain, and improves motion flexibility and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-12
- Publication Date
- 2026-03-27
AI Technical Summary
Traditional mobile robots rely on a single mode of movement, making it difficult to adapt to complex and varied terrains, which limits their application in special scenarios such as field exploration and disaster relief.
Design a multi-axis adjustable mobile robot that uses a multi-module mobile structure, including a combination of upper and lower mechanical legs and moving wheels, and utilizes motors and cylinders to switch between multiple motion modes to adapt to different ground environments.
It enables robots to move flexibly on different terrains, enhances their mobility and stability, and expands their applicable scenarios.
Smart Images
Figure CN224045301U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, concretely is a kind of mobile robot of multi-axis adjustment. BACKGROUND
[0002] Robot is a kind of intelligent machine capable of semi-autonomous or fully autonomous work, with a certain degree of artificial intelligence, programmable and the ability to perform a variety of tasks, mobile robot is increasingly widely used in many fields, such as industrial production, logistics transportation, environmental monitoring, rescue exploration etc.
[0003] Traditional mobile robot mostly adopts single movement mode, such as wheeled, tracked or legged, but different movement modes adapt to different ground environments in actual application process, but ground environment is not immutable, therefore single movement mode is difficult to use complex and changeable terrain, which greatly limits the application of mobile robot in special scenes such as field exploration, disaster rescue etc. INVENTION CONTENTS
[0004] The utility model aims at providing a kind of mobile robot of multi-axis adjustment, adjustable multiple movement modes are provided in the device, so that robot can adapt to different ground environments, to solve the problem proposed in the above background technology.
[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of mobile robot of multi-axis adjustment, including body part, the body part is hollow cuboid structure, control chip is fixed in the inside of the body part, the control chip is the control center of robot, the control chip is connected with computer by wireless signal, the upper surface of the body part is fixedly installed with support, the front surface of the support is embeddedly fixed 2 cameras, the camera is connected with control chip, the body part is connected multiple module mobile structure, multiple module mobile structure is realized the multiple walking mode switching of robot by the mutual cooperation between upper mechanical leg, lower mechanical leg and mobile wheel, the multiple module mobile structure includes upper mechanical leg, the upper mechanical leg is arranged in the side surface of body part.
[0006] Preferably, the upper mechanical leg is double-layer plate structure arranged in parallel, the double-layer plate of the upper mechanical leg is fixedly connected, the lower surface of the upper mechanical leg is open, the lower mechanical leg is arranged below the upper mechanical leg, the mobile wheel is arranged below the lower mechanical leg, the upper mechanical leg, lower mechanical leg and mobile wheel constitute a multiple module mobile structure, the multiple module mobile structure is arranged with 4, and 4 the multiple module mobile structure is distributed in the two sides of body part in rectangle.
[0007] The above technical scheme is adopted, and the multiple module mobile structure can realize the switching of multiple movement modes of robot.
[0008] Preferably, a one-time adjusting structure is arranged between the upper mechanical leg and the fuselage part, the one-time adjusting structure comprises a supporting block, the inside of the supporting block is hollow, the supporting block is fixedly installed on the surface of the fuselage part, a first motor is fixedly arranged in the inside of the supporting block, the output end of the first motor is fixedly connected with the rotating shaft of the upper mechanical leg, the first motor is provided with four, the four first motors are respectively connected with different upper mechanical legs, and the first motor is connected with the control chip through a wireless signal.
[0009] By adopting the above technical scheme, the position between the upper mechanical leg and the fuselage part can be adjusted by the one-time adjusting structure.
[0010] Preferably, a secondary adjusting structure is arranged between the lower mechanical leg and the upper mechanical leg, the secondary adjusting structure comprises a second motor, the second motor is fixedly installed on the outer surface of the upper mechanical leg, the output end of the second motor is fixedly connected with the rotating shaft of the lower mechanical leg, the rotating shaft of the lower mechanical leg is rotatably installed on the surface of the upper mechanical leg, and the lower mechanical leg is a C-shaped structure with an open lower end.
[0011] By adopting the above technical scheme, the position relationship between the lower mechanical leg and the upper mechanical leg can be adjusted by the secondary adjusting structure.
[0012] Preferably, a connecting structure is arranged between the moving wheel and the lower mechanical leg, the connecting structure guarantees normal rotation of the moving wheel while placing the open lower end of the lower mechanical leg to be shielded, the connecting structure comprises a fixed plate, the fixed plate is a circular plate, one side surface of the fixed plate is fixedly connected with the outer surface of the lower mechanical leg, the other side surface of the fixed plate is fixedly provided with a mounting cylinder, the mounting cylinder is a hollow structure with an open end, a third motor is fixedly arranged in the inside of the mounting cylinder, and the output end of the third motor is fixedly connected with the rotating shaft of the moving wheel.
[0013] By adopting the above technical scheme, the movement of the moving wheel can be realized by the connecting structure.
[0014] Preferably, a tertiary adjusting structure is arranged on the inner wall of the lower mechanical leg, and the tertiary adjusting structure realizes switching of the movement mode of the robot through the moving inner mechanical leg.
[0015] By adopting the above technical scheme, the switching of the movement mode of the robot can be realized by the tertiary adjusting structure.
[0016] Preferably, the tertiary adjusting structure comprises an inner mechanical leg, the inner mechanical leg is slidably installed on the inner wall of the lower mechanical leg, the lower end of the inner mechanical leg is aligned with the opening of the lower mechanical leg, the upper end of the inner mechanical leg is fixedly connected with the output end of a gas cylinder, the gas cylinder is fixedly installed on the inner wall of the lower mechanical leg, and the gas cylinder is connected with the control chip through a wireless signal.
[0017] The cylinder can be used to extend the inner mechanical leg to switch the movement mode of the robot.
[0018] Compared with the prior art, the mobile robot with multi-axis adjustment has the advantages that:
[0019] 1. The multi-module moving structure of the body part is formed by the upper mechanical leg, the lower mechanical leg and the moving wheel, various walking modes are switched, the inner mechanical leg is extended through the control of the cylinder on the inner wall of the lower mechanical leg, the switching between the leg type movement and the moving wheel movement is realized, the robot can adapt to different terrains and working environments, the motion flexibility is greatly improved compared with the traditional single walking mode robot, and the robot is more widely applicable.
[0020] 2. The upper mechanical leg is rotationally connected with the body part, the lower mechanical leg is rotationally connected with the upper mechanical leg, the rotation of the upper mechanical leg and the lower mechanical leg is realized through the control of the first motor and the second motor, the posture of the lower mechanical leg and the upper mechanical leg relative to the body part is changed, the gravity center control of the body part is realized, the stability of the robot in working is increased, and the grip is enhanced. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is a front view structural schematic diagram of the utility model;
[0022] Figure 2 It is a rear view structural schematic diagram of the utility model;
[0023] Figure 3 It is a control chip mounting structure schematic diagram of the utility model;
[0024] Figure 4 It is an upper mechanical leg structure schematic diagram of the utility model;
[0025] Figure 5 It is an inner mechanical leg mounting structure schematic diagram of the utility model;
[0026] Figure 6 It is a No. 3 motor mounting structure schematic diagram of the utility model.
[0027] In the drawing: 1, body part; 2, control chip; 3, support; 4, camera; 5, upper mechanical leg; 6, lower mechanical leg; 7, moving wheel; 8, bearing block; 9, No. 1 motor; 10, No. 2 motor; 11, fixed plate; 12, mounting cylinder; 13, No. 3 motor; 14, inner mechanical leg; 15, cylinder. DETAILED DESCRIPTION
[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.
[0029] Please refer to Figures 1-6 The present application provides a technical solution: a multi-axis adjustment mobile robot, comprising a body part 1, a control chip 2, a support 3, a camera 4, an upper mechanical leg 5, a lower mechanical leg 6, a mobile wheel 7, a supporting block 8, a first motor 9, a second motor 10, a fixed plate 11, a mounting cylinder 12, a third motor 13, an inner mechanical leg 14, and a gas cylinder 15.
[0030] The body part 1 is a hollow cuboid structure, and the control chip 2 is fixed inside the body part 1. The control chip 2 is the control center of the robot. The control chip 2 is connected to an external computer through wireless signals. The upper surface of the body part 1 is fixedly installed with the support 3. Two cameras 4 are embeddedly fixed on the front surface of the support 3. The cameras 4 are connected to the control chip 2. The body part 1 is connected to a multi-module moving structure. The multi-module moving structure realizes the switching of multiple walking modes of the robot through the cooperation of the upper mechanical leg 5, the lower mechanical leg 6, and the mobile wheel 7. The multi-module moving structure comprises the upper mechanical leg 5 arranged on the side surface of the body part 1.
[0031] As Figure 1 , Figure 2 and Figure 3 indicated, when using the device, the control chip 2 is connected to an external computer through wireless signals to realize data transmission and remote control instruction receiving. At the same time, the control program of the robot is input into the control chip 2 through the computer. The cameras 4 on the front surface of the support 3 collect environmental image information in real time during movement and transmit the information to the control chip 2 for processing. When the robot is running, the control chip 2 is sent instructions from the external computer. The control chip 2 controls the movement of the robot according to the instructions, and provides decision basis for the control chip 2 through the image information collected by the cameras 4, so that the robot can accurately perform tasks.
[0032] The upper mechanical leg 5 is a double-layer plate structure arranged in parallel, the double-layer plates of the upper mechanical leg 5 are fixedly connected, the lower surface of the upper mechanical leg 5 is open, the lower part of the upper mechanical leg 5 is provided with a lower mechanical leg 6, the lower part of the lower mechanical leg 6 is provided with a moving wheel 7, and the upper mechanical leg 5, the lower mechanical leg 6 and the moving wheel 7 form a multi-module moving structure. The multi-module moving structure is provided with four, and the four multi-module moving structures are distributed in a rectangular shape on both sides of the fuselage part 1. A primary adjustment structure is arranged between the upper mechanical leg 5 and the fuselage part 1. The primary adjustment structure comprises a supporting block 8, the inside of the supporting block 8 is hollow, the supporting block 8 is fixedly installed on the surface of the fuselage part 1, a first motor 9 is fixedly installed in the inside of the supporting block 8, the output end of the first motor 9 is fixedly connected with the rotating shaft of the upper mechanical leg 5, four first motors 9 are arranged, and the four first motors 9 are respectively connected with different upper mechanical legs 5. The first motor 9 is connected with the control chip 2 through a wireless signal. A secondary adjustment structure is arranged between the lower mechanical leg 6 and the upper mechanical leg 5. The secondary adjustment structure comprises a second motor 10, the second motor 10 is fixedly installed on the outer surface of the upper mechanical leg 5, the output end of the second motor 10 is fixedly connected with the rotating shaft of the lower mechanical leg 6, and the rotating shaft of the lower mechanical leg 6 is rotatably installed on the surface of the upper mechanical leg 5. The lower mechanical leg 6 is a C-shaped structure with an open lower end. A connecting structure is arranged between the moving wheel 7 and the lower mechanical leg 6. The connecting structure ensures that the moving wheel 7 normally rotates while placing the open lower end of the lower mechanical leg 6 to be blocked. The connecting structure comprises a fixed plate 11, the fixed plate 11 is a circular plate, one side surface of the fixed plate 11 is fixedly connected with the outer surface of the lower mechanical leg 6, the other side surface of the fixed plate 11 is fixedly provided with a mounting cylinder 12, the mounting cylinder 12 is a hollow structure with an open end, a third motor 13 is fixedly installed in the inside of the mounting cylinder 12, and the output end of the third motor 13 is fixedly connected with the rotating shaft of the moving wheel 7.
[0033] As shown in Figure 1 and Figure 6 When the robot works on a flat ground, the robot moves using the moving wheel 7, the control chip 2 sends an instruction to the third motor 13, the third motor 13 is started, the third motor 13 drives the moving wheel 7 to rotate, and the rotating moving wheel 7 realizes the movement of the robot. By controlling different moving wheels 7 respectively, the control of the movement state of the robot is realized. When it is necessary to control the posture of the robot, the first motor 9 is started, the first motor 9 drives the upper mechanical leg 5 to rotate, the angle between the upper mechanical leg 5 and the fuselage part 1 is adjusted, the second motor 10 is started, the second motor 10 drives the lower mechanical leg 6 to rotate, the angle between the lower mechanical leg 6 and the upper mechanical leg 5 is adjusted, and thus the gravity center of the fuselage part 1 is adjusted, so as to ensure the stability of the fuselage part 1 in the movement process.
[0034] The inner wall of the lower mechanical leg 6 is provided with a third adjustment structure, the third adjustment structure realizes switching of the movement mode of the robot through the moving inner mechanical leg 14, and the third adjustment structure comprises the inner mechanical leg 14, the inner mechanical leg 14 is slidingly installed on the inner wall of the lower mechanical leg 6, the lower end of the inner mechanical leg 14 is aligned with the opening of the lower mechanical leg 6, the upper end of the inner mechanical leg 14 is fixedly connected with the output end of the air cylinder 15, the air cylinder 15 is fixedly installed on the inner wall of the lower mechanical leg 6, and the air cylinder 15 is connected with the control chip 2 through a wireless signal;
[0035] As shown in Figure 1 、 Figure 4 and Figure 5 When the robot moves on the rugged ground, the air cylinder 15 is started, the output end of the air cylinder 15 drives the inner mechanical leg 14 to move on the inner wall of the lower mechanical leg 6, so that the lower end of the inner mechanical leg 14 protrudes from the lower end of the lower mechanical leg 6, until the lower end of the inner mechanical leg 14 supports the moving wheel 7, thereby realizing switching of the movement mode of the robot, so that the robot can adapt to different application occasions.
[0036] Working principle: when the multi-axis adjustment mobile robot is used, the movement of the robot is controlled by the control chip 2, the image information collected by the camera 4 is transmitted to the control chip 2, and the robot is assisted to switch the movement state according to the terrain in the moving process, when the robot moves on the flat ground, the third motor 13 is started, the third motor 13 drives the moving wheel 7 to rotate to realize the wheeled movement of the robot, when the robot moves on the rugged ground, the air cylinder 15 is started, the air cylinder 15 pushes the inner mechanical leg 14 to elongate in the lower mechanical leg 6, so that the robot switches to legged movement, increases the adaptability of the robot to different movement environments, and increases the overall practicability.
[0037] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.
Claims
1. A multi-axle adjusted mobile robot, comprising a body part (1), the body part (1) is a hollow cuboid structure, a control chip (2) is fixed inside the body part (1), characterized in that: The control chip (2) is the control center of the robot, the control chip (2) is connected with the computer through wireless signal, the upper surface of the body part (1) is fixedly installed with a support (3), the front surface of the support (3) is embeddedly fixed with two cameras (4), the cameras (4) are connected with the control chip (2), the body part (1) is connected with a multi-module moving structure, the multi-module moving structure realizes the switching of various walking modes of the robot through the cooperation between the upper mechanical leg (5), the lower mechanical leg (6) and the moving wheel (7), the multi-module moving structure comprises the upper mechanical leg (5), and the upper mechanical leg (5) is arranged on the side surface of the body part (1).
2. The multi-axle adjusted mobile robot according to claim 1, wherein: The upper mechanical leg (5) is a double-layer plate structure arranged in parallel, the double-layer plates of the upper mechanical leg (5) are fixedly connected, the lower surface of the upper mechanical leg (5) is open, the lower surface of the upper mechanical leg (5) is provided with the lower mechanical leg (6), the lower surface of the lower mechanical leg (6) is provided with the moving wheel (7), the upper mechanical leg (5), the lower mechanical leg (6) and the moving wheel (7) constitute a multi-module moving structure, the multi-module moving structure is provided with four, and the four multi-module moving structures are distributed in a rectangular shape on the two sides of the body part (1).
3. The multi-axle adjusted mobile robot according to claim 1, wherein: The upper mechanical leg (5) and the body part (1) are provided with a primary adjusting structure, the primary adjusting structure comprises a supporting block (8), the inside of the supporting block (8) is hollow, the supporting block (8) is fixedly installed on the surface of the body part (1), a first motor (9) is fixedly arranged in the inside of the supporting block (8), the output end of the first motor (9) is fixedly connected with the rotating shaft of the upper mechanical leg (5), the first motor (9) is provided with four, the four first motors (9) are connected with different upper mechanical legs (5) respectively, and the first motor (9) is connected with the control chip (2) through wireless signal.
4. The multi-axle adjusted mobile robot according to claim 1, wherein: The lower mechanical leg (6) and the upper mechanical leg (5) are provided with a secondary adjusting structure, the secondary adjusting structure comprises a second motor (10), the second motor (10) is fixedly installed on the outer surface of the upper mechanical leg (5), the output end of the second motor (10) is fixedly connected with the rotating shaft of the lower mechanical leg (6), and the rotating shaft of the lower mechanical leg (6) is rotatably installed on the surface of the upper mechanical leg (5); the lower mechanical leg (6) is a C-shaped structure with an open lower end.
5. The multi-axle adjusted mobile robot according to claim 1, wherein: The connecting structure is arranged between the moving wheel (7) and the lower mechanical leg (6), the connecting structure guarantees the normal rotation of the moving wheel (7) and places the open lower end of the lower mechanical leg (6) to be blocked, the connecting structure comprises a fixed plate (11), the fixed plate (11) is a circular plate, one side surface of the fixed plate (11) is fixedly connected with the outer surface of the lower mechanical leg (6), the other side surface of the fixed plate (11) is fixedly provided with a mounting cylinder (12), the mounting cylinder (12) is a hollow structure with an open one end, a third motor (13) is fixedly arranged in the inside of the mounting cylinder (12), and the output end of the third motor (13) is fixedly connected with the rotating shaft of the moving wheel (7).
6. The multi-axle adjusted mobile robot according to claim 1, wherein: The inner wall of the lower mechanical leg (6) is provided with a third adjustment structure, which realizes switching of the robot movement mode through the moving inner mechanical leg (14).
7. The multi-axle adjusted mobile robot according to claim 6, characterized in that: The third adjustment structure comprises an inner mechanical leg (14) which is slidingly installed on the inner wall of the lower mechanical leg (6), the lower end of the inner mechanical leg (14) is aligned with the opening of the lower mechanical leg (6), the upper end of the inner mechanical leg (14) is fixedly connected with the output end of a gas cylinder (15), the gas cylinder (15) is fixedly installed on the inner wall of the lower mechanical leg (6), and the gas cylinder (15) is connected with the control chip (2) through a wireless signal.